CN107607974B - It is a kind of can rapid deployment Emergency Logistics equip method for tracking and positioning - Google Patents
It is a kind of can rapid deployment Emergency Logistics equip method for tracking and positioning Download PDFInfo
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- CN107607974B CN107607974B CN201710821292.9A CN201710821292A CN107607974B CN 107607974 B CN107607974 B CN 107607974B CN 201710821292 A CN201710821292 A CN 201710821292A CN 107607974 B CN107607974 B CN 107607974B
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Abstract
The present invention relates to it is a kind of can the Emergency Logistics of rapid deployment equip method for tracking and positioning, it is integrated to apply Beidou RNSS, RDSS, UWB and MEMS combined orientation technology, realize the interior of the delivery process of relief goods, it is outdoor, position tracking function of reporting under all kinds of environment such as communications facility damage, when Emergency Logistics goods and materials and equipment are from Materials Service Center to emergency home-delivery center's field transport, start GNSS locating module+MEMS locating module, realize the tracking and positioning of vehicle and goods and materials, environment is entered the room when goods and materials are transported to logistics distribution center, starting UWB module+GNSS module is positioned, start UWB positioning+MEMS module station-keeping mode, in overall process, the location information that data processing module obtains different positioning methods carries out the unification of space-time datum, encode framing , start RDSS module, the report of full travel position information realized by big-dipper satellite.The present invention in the case that environment is complicated, infrastructure damage can rapid deployment, ensure that the full travel position tracking and monitoring of Emergency Logistics equipment.
Description
Technical field
The present invention relates to indoor and outdoor seamless positionings and emergency communication integration field, particularly relate to mobile base station when emergency occurs
The seamless method for tracking and positioning of Logistics Equipment indoor and outdoor under damage.
Background technique
Emergency Logistics refer to cope with serious natural calamity, Sudden sensorineural hearing loss, occurred events of public safety and military affairs
The emergency events such as conflict and demand to goods and materials, personnel, fund carry out a kind of special logistics activity of emergency supply.Emergency Logistics
System mainly has following link: Emergency Logistics coordinative command center, goods and materials supply side, logistics center and material requirements
It holds, the transmitting of information is realized between each service link, ensure that emergency materials can be smart from material supply point within first time
Standard is shipped in material requirements personnel's hand.Whole process experienced matching in way transport, arrival goods and materials from material supply end goods and materials
Unloading storage, materials distribution, the accurate delivery of disaster field a little is sent, command centre needs whole to emergency object during these
It provides overall process and carries out tracing and monitoring.Currently, logistics field navigator fix technology includes Beidou/GPS car-mounted terminal for logistic car
Positioning, based on RFID be store in a warehouse in logistics positioning, storage and personnel positioning based on UWB, these positioning methods have
The respective scope of application.
Beidou/GPS car-mounted terminal is suitable for field spaciousness environment, and satellite-signal is not blocked and the geometry structure of visible satellite
The relatively good situation of type, 8 meters of the positioning accuracy of single frequency receiving.
RFID location technology is unlimited radio frequency positioning important directions, and positioning accuracy can arrive sub-meter grade, but require card reader with
Distance is short between label, is suitable for assisting depositary management personnel restocking and picking, needs to dispose card reader in advance.
UWB is a kind of no-load communication techniques, and strong anti-interference performance, transmission rate is high, and the big transmission power of power system capacity is non-
It is often small.Impulse has very high positioning accuracy, using ultra-wide band wireless communication, it is easy to will position and communicate unification.
Inertial navigation system (INS, Inertial Navigation System) be it is a kind of independent of external information,
Not to the autonomic navigation system of external radiation energy, micro- inertial navigation technique developed in recent years can be in microelectric technique
Grow up on the basis of (semiconductor processing technology), as cost is relatively low, the MEMS device precision of small volume is higher and higher,
It is combined by MEMS gyroscope, mems accelerometer and peripheral circuit and forms mini inertia measurement unit (MIMU) oneself is gradually pushed away
It is wide to arrive the fields such as industry, consumption.
Beidou RDSS technology is that Beidou navigation is different from one of important feature of GPS system, is defended by big-dipper satellite GEO
Communications transponder on star realizes satellite communication function.Mobile base station meet with destroy when, by Beidou RDSS module by information with
The mode of short message is sent to commanding in the rear center.
When emergency occurs, the whole process of quick and precisely delivering of emergency materials experienced the entrucking transport of goods and materials, reach and answer
It is anxious that no matter home-delivery center carries out temporary unloading, the outbound distribution of emergency materials and the accurate delivery of disaster field, whole process
It experienced outdoor transport, indoor storage, the several links of scene delivery, when occurring due to emergency, communication base station, basic electric power may
It is destroyed, the locating and tracking process of entire goods and materials needs to consider equipment rapid deployment under varying environment, that is, arrives and use, and also wants
Consider the quick passback of location information, therefore whole process is more complicated, at present not yet related report can rapid deployment emergency
Logistics Equipment tracking and positioning technology.
Summary of the invention
The technology of the present invention solves the problems, such as: overcome the deficiencies of the prior art and provide it is a kind of can rapid deployment Emergency Logistics dress
Standby method for tracking and positioning, can be realized location data real-time Transmission, guarantees the safety of data transmission, is convenient for carrying, meets
Under randomness, disastrous, interference environment, it can open and use in time, Rapid Implementation.
The technology of the present invention solution: it is a kind of can the Emergency Logistics of rapid deployment equip method for tracking and positioning, integrate application
Beidou RNSS, RDSS, UWB and MEMS combined orientation technology, realizes the delivery process of relief goods, i.e., from Materials Service Center to
Under logistics distribution center, logistics distribution center to live indoor and outdoor, communications facility damage all kinds of environment of disaster assistance
Position tracking function of reporting, when Emergency Logistics goods and materials and equipment are from Materials Service Center to emergency home-delivery center's field transport,
Start Beidou RNSS unit+MEMS positioning unit (RNSS unit includes antenna and processor), realizes the tracking of vehicle and goods and materials
Positioning；Environment is entered the room when goods and materials are transported to logistics distribution center, starting UWB positioning unit+Beidou RNSS unit is determined
, when entering emergency scene, starting UWB positioning unit+MEMS positioning unit is positioned, and positions label for information using UWB
It is transmitted to data processing unit；In overall process, the location information that data processing unit obtains different positioning methods carries out space-time
The unification of benchmark encodes framing, starts RDSS module, and the report of full travel position information is realized by big-dipper satellite.
Specifically includes the following steps:
(1) from Materials Service Center shipment, Beidou RNSS antenna+RDSS antenna is fixed on emergency materials with the mode of ceiling
On transport vehicle, in receiver module and MEMS system placement vehicle, using included energy unit or vehicle power supply, vehicle is realized
Way transport full travel position track function of reporting, realize steps are as follows:
(11) Beidou location receiver obtains big-dipper satellite location information, carries out signal detection and resolves, and obtains position letter
PBDWith velocity information VBD；
(12) MEMS micro inertial measurement unit calculates algorithm by course, obtains vehicle position information PMEMS, velocity information
VMEMS；
(13) the two information obtained is corrected in digital processing element by the unified conversion of coordinate, Kalman Filtering,
Obtain the optimal estimation value V of position optimal estimation value P of the vehicle under WGS84 coordinate system, speed；
(14) data processing unit is to the position optimal estimation value P of acquisition, the optimal estimation value V of speed, according to
BDRDSS4.2 communications protocol format is encoded, and after framing, is transferred to Beidou RDSS unit；
(15) real-time position information is uploaded to command centre's day after tomorrow by Beidou RDSS unit；
(2) after the unloading of Emergency Logistics home-delivery center, emergency materials are stored, disaster area pending, and Beidou RNSS+RDSS days
Line is deployed in the good place of outdoor observation condition, as datum mark, while on emergency materials packing case, quickly dispenses UWB shifting
Dynamic label, realizes and utilizes UWB+GNSS+RDSS position tracking function of reporting, realizes that steps are as follows:
(21) GNSS positioning device obtains reference point location, using one of UWB label as UWB positioning datum point, and
GNSS positioning carries out joint measuring and calculating；
(22) data processing unit carries out space-time conversion to the UWB anchor point received, and UWB and GNSS is unified to WGS84
Under coordinate；
(23) indoors at diplomatic circles, (less than 4 moonscope amounts, satellite when the number of satellite that can be observed is less than 4
Localization method failure, cannot position), it is supplemented using UWB observed quantity；
(24) environment is entered the room, data processing unit uses the observed quantity of UWB label, using the station-keeping mode of TOA to room
Interior goods and materials carry out positioning calculation；
(25) by UWB by all observed quantities, alignment by union result is subjected to framing, hair according to RDSS transmission format protocol
It send to RDSS unit；
(26) location information is sent to commanding in the rear system by big-dipper satellite by RDSS unit, is matched to realize emergency
Send the tracking and positioning of center cargo；
(3) the accurate tracing and monitoring of emergency field rescue individual soldier and dispensing goods and materials, utilizes UWB and MEMS alignment by union skill
Art realizes whole process monitoring position, realizes that steps are as follows:
(31) UWB labeling apparatus, initial position of the UWB as initial datum mark, as MEMS are disposed in escape hatch；
(32) it is obtained when rescue personnel or rescue outfit are carried by individual soldier into indoor or emergency scene, MEMS sensor
The information obtained gets the gait information of rescue personnel by DR algorithm；
(33) data processing unit obtains the data of MEMS system, is proofreaded with UWB datum mark, to obtain accurate
The position of rescue personnel or rescue outfit；
(34) after according to RDSS communications protocol format framing, it is sent to RDSS unit, is transmitted to commanding in the rear system.
The advantages of the present invention over the prior art are that:
(1) present invention can be realized location data real-time Transmission, guarantees the safety of data transmission, is convenient for carrying, meets
Under randomness, disastrous, interference environment, it can open and use in time, Rapid Implementation.
(2) present invention realize the location tracking function that seamless positioning is combined with satellite communication, using modularized design,
Plug and play assembly, realize in the case that environment is complicated, infrastructure damage can rapid deployment, ensure that Emergency Logistics
The full travel position tracking and monitoring of equipment.
Detailed description of the invention
Fig. 1 is Emergency Logistics full process positioning tracking flow chart of the invention；
Fig. 2 is from material supply to emergency home-delivery center in way locating and tracking flow chart；
Fig. 3 MEMS micro inertial measurement unit positioning principle schematic diagram；
Fig. 4 Emergency Logistics home-delivery center locating and tracking work flow diagram；
The locating and tracking work flow diagram at scene is delivered in Fig. 5 rescue.
Specific embodiment
It describes the invention in detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention relates to a kind of localization method of Emergency Logistics equipment tracking control of full process and management, it is integrated to answer
With Beidou RNSS, RDSS, UWB and MEMS combined orientation technology, realize relief goods delivery process (from Materials Service Center to
Logistics distribution center, logistics distribution center to disaster field) all kinds of environment such as indoor and outdoor, communications facility damage under position
Tracking function of reporting is set, when Emergency Logistics goods and materials and equipment are from Materials Service Center to emergency home-delivery center's field transport, is opened
Dynamic GNSS locating module+MEMS locating module, realizes the tracking and positioning of vehicle and goods and materials, when goods and materials are transported to logistics distribution center
Environment is entered the room, starting UWB module+GNSS module is positioned, and when entering emergency scene, starts UWB positioning+MEMS module
Station-keeping mode, in overall process, the location information that data processing module obtains different positioning methods carries out the unification of space-time datum,
Framing is encoded, RDSS module is started, the report of full travel position information is realized by big-dipper satellite.The present invention realizes seamless positioning
The location tracking function combined with satellite communication, device are assembled using modularized design, plug and play, are realized in environment
It is complicated, in the case of infrastructure damage can rapid deployment, ensure that the full travel position tracking and monitoring of Emergency Logistics equipment.
The present invention provides a kind of Emergency Logistics equipment positioning and tracing method, in Emergency Logistics distributing procedure, indoors, room
Outside, the full process positioning under all kinds of complex environments such as infrastructure damage and tracking.Key step includes the following steps:
1. Materials Service Center shipment, Beidou RNSS antenna+RDSS antenna is fixed on emergency materials with the mode of ceiling and transports
On defeated vehicle, in receiver module and MEMS system placement vehicle, using included energy unit or vehicle power supply, vehicle is realized
On way, the full travel position of transport tracks function of reporting, as shown in Fig. 2, specific work steps is as follows.
1) the Beidou RNSS antenna trapping in Beidou RNSS positioning unit is to big-dipper satellite observed quantity, in RNSS processor
The detection and resolving of signal are carried out, the coordinate P of vehicle under WGS84 rectangular coordinate system is obtainedBD(x,y,z).Navigation calculation principle is shown in
Formula 1:
Wherein, [x, y, z]TFor receiver coordinate vector, X(N)=[X(N),Y(N),Z(N)]TFor satellite N position coordinates to
Amount is calculated, ρ according to the satellite ephemeris receivedc (N)Pseudorange after the error correction obtained for receiver measurement, δ tuTo connect
The clock deviation of receipts machine is calculated by 4 above equation groups by least square method when observing that satellite number N is more than or equal to 4
(x,y,z,δtu)。
2) in MEMS unit, MEMS sensor obtains angular speed increment and acceleration by three axis accelerometer and gyroscope
Degree obtains position, posture information using inertial navigation algorithm.Wherein, preliminary examination alignment value uses Beidou RNSS positioning unit position
It provides.Position fixing process is as shown in figure 3, wherein b indicates carrier inertial coodinate system, ωbCarrier to be measured using gyroscope is used to
Angular speed under property coordinate system, fbFor the ratio force component under the carrier inertial coodinate system of accelerometer measures, n indicates navigation coordinate
System, is typically chosen as geographic coordinate system,For the transition matrix from carrier inertial coodinate system to geographic coordinate system, pass through ωb。fnTable
Show the ratio force component under navigational coordinate system, whereinIt obtains, Integration Solving is carried out to carrier acceleration, position, is obtained
Speed V and position X of the carrier under geosystem are obtained, (V is expressed asn, Xn), in data processing unit, two class data are utilized
The method of Kalman Filtering carries out data fusion.To obtain the coordinate position P (x, y, z) and speed v of vehicle.
3) data processing unit compiles the P (x, y, z) and v value of acquisition according to BDRDSS4.2 communications protocol format
Yard, after framing, it is transferred to Beidou RDSS unit.In Big Dipper short message message format, instruction/content, length and the machine address
It is that Big Dipper short message provides, in its customized specific format and content of information content portions.The length of information content portions
The reserved length of the information content portions of civilian card is 120 bytes.Particular content see the table below 1.
Table 1
4) real-time position information is uploaded to backstage command centre by Beidou RDSS unit, is that backstage command centre slaps at any time
Control position, the state of emergency vehicles.
2. emergency materials are stored, disaster area pending after the unloading of Emergency Logistics home-delivery center.Beidou RNSS+RDSS antenna
Being deployed in outdoor can observe that point of the number of satellite more than or equal to 4 is observed, and dispose a UWB fixed labels, simultaneously
On emergency materials packing case, UWB mobile tag is quickly dispensed.It realizes and utilizes UWB+BD+RDSS position tracking function of reporting,
As shown in figure 4, specific work steps is as follows.
1) GNSS positioning unit obtains datum mark horizontal position coordinate P (X0, Y0), and UWB label is placed on the datum mark
As one of the known datum point of UWB sensor positioning, by short base line measurement, other three fixed point conducts are obtained
UWB fixed labels position is expressed as (xi,yi).The position of other UWB mobile tags is acquired using TOA method.Positioning principle is as follows
Assuming that n-th of UWB mobile tag of the deployment on some emergency materials packing case, position are that coordinate is P (x, y), measure
The time that the signal reaches i-th of fixed labels is τ i, resolves following equations group, solves (x, y) value, wherein c is light
Speed,
2) it indoors at diplomatic circles, when the number of satellite that can be observed is less than 4, is supplemented using UWB observed quantity.Into
Enter indoor environment, data processing unit is used the observed quantity of UWB label, positioned using the station-keeping mode of TOA to indoor goods and materials
It resolves, positioning principle is shown in step 1).
3) by UWB by all observed quantities, alignment by union result is subjected to framing according to RDSS transmission format protocol, is sent
To RDSS unit.It is shown in Table 1.
4) location information is sent to commanding in the rear system by big-dipper satellite by RDSS unit, to realize emergency dispatching
The tracking and positioning of center cargo.
3. it meets an urgent need and field rescue individual soldier and launches the accurate tracing and monitorings of goods and materials, using UWB and MEMS alignment by union technology,
Realize whole process monitoring position.As shown in Figure 5, the specific steps are as follows:
1) UWB labeling apparatus, initial position of the UWB as initial datum mark, as MEMS are disposed in escape hatch.
2) when rescue personnel or rescue outfit are carried by individual soldier into indoor or emergency scene, MEMS micro-inertia measuring
The information that unit obtains gets the gait information of rescue personnel by DR algorithm.
3) data processing unit obtains the data of MEMS system, is proofreaded with UWB datum mark, to accurately be rescued
Help the position of personnel or rescue outfit.
4) according to (ibid table 1) after RDSS communications protocol format framing, it is sent to RDSS unit, is transmitted to commanding in the rear system
System.
The above, part specific embodiment only of the present invention, but protection scope of the present invention is not limited to and this,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by any those skilled in the art, should all cover
Within protection scope of the present invention.
Claims (1)
1. one kind can rapid deployment Emergency Logistics equip method for tracking and positioning, it is characterised in that: in Emergency Logistics distributing procedure,
Indoors, full process positioning and tracking under outdoor, infrastructure damage all kinds of complex environments, comprising the following steps:
(1) it is fixed on transport vehicle, is connect with the mode of ceiling from Materials Service Center shipment, Beidou RNSS antenna and RDSS antenna
Receipts machine module and MEMS micro inertial measurement unit are placed in transport vehicle, using included energy unit or vehicle power supply,
It realizes that transport vehicle tracks function of reporting in the full travel position of way transport, realizes that steps are as follows:
(11) Beidou location receiver obtains big-dipper satellite location information, carries out signal detection and resolves, and obtains vehicle location letter
Cease PBDWith velocity information VBD；
(12) MEMS micro inertial measurement unit calculates algorithm by course, obtains vehicle position information PMEMS, velocity information VMEMS；
(13) the two information obtained is corrected in digital processing element by the unified conversion of coordinate, Kalman filtering, is obtained
Vehicle under WGS84 coordinate system the position optimal estimation value P of logistics vehicles, speed optimal estimation value V；
(14) data processing unit is to the position optimal estimation value P of the logistics vehicles of acquisition, the optimal estimation value V of speed, according to
BDRDSS4.2 communications protocol format is encoded, and after framing, is transferred to Beidou RDSS unit；
(15) real-time position information is uploaded to commanding in the rear center by Beidou RDSS unit；
(2) after the unloading of Emergency Logistics home-delivery center, emergency materials are stored, disaster area pending, Beidou RNSS+RDSS allocating antenna
In the unobstructed place of outdoor satellite signal, as datum mark, while on emergency materials packing case, UWB mobile tag is dispensed,
It realizes and utilizes UWB+GNSS+RDSS position tracking function of reporting, realize that steps are as follows:
(21) Beidou RNSS positioning device obtains reference point location, using one of UWB label as UWB positioning datum point, and
Beidou RNSS carries out joint measuring and calculating；
(22) data processing unit carries out space-time conversion to the UWB label received, and UWB and GNSS is unified to WGS84 coordinate
Under；
(23) it indoors at diplomatic circles, when the number of satellite that can be observed is less than 4, is supplemented using UWB observed quantity；
(24) environment is entered the room, data processing unit uses the observed quantity of UWB label, using the station-keeping mode of AOA to indoor object
Money carries out positioning calculation；
(25) by UWB by all observed quantities, alignment by union result is subjected to framing according to RDSS transmission format protocol, is sent to
RDSS unit；
(26) location information is sent to commanding in the rear center by big-dipper satellite by RDSS unit, to realize in emergency dispatching
The tracking and positioning of heart cargo；
(3) the accurate tracing and monitoring of emergency field rescue individual soldier and dispensing goods and materials, it is real using UWB and MEMS alignment by union technology
Existing whole process monitoring position realizes that steps are as follows:
(31) UWB labeling apparatus is disposed in escape hatch, UWB is as initial datum mark, as MEMS micro inertial measurement unit
Initial position；
(32) when rescue personnel or rescue outfit are carried by individual soldier into indoor or emergency scene, MEMS micro-inertia measuring list
The information that member obtains gets the gait information of rescue personnel by DR algorithm；
(33) data processing unit obtains the data of MEMS micro inertial measurement unit, is proofreaded with UWB datum mark, to obtain
The position of accurate rescue personnel or rescue outfit；
(34) after according to RDSS communications protocol format framing, it is sent to RDSS unit, is transmitted to commanding in the rear center.
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| CN108513255A (en) * | 2018-03-08 | 2018-09-07 | 广东电网有限责任公司信息中心 | A kind of jury rig managing and control system based on Big Dipper technology |
| EP3956683A1 (en) * | 2019-04-19 | 2022-02-23 | Be Spoon | Ultra-wideband location systems and methods |
| CN111090113A (en) * | 2019-12-31 | 2020-05-01 | 南京泰通科技股份有限公司 | High-precision train positioning terminal and positioning method based on Beidou, UWB and inertial navigation |
| CN115113255B (en) * | 2022-08-30 | 2023-01-31 | 广州辰创科技发展有限公司 | Vehicle positioning and tracking device and method and vehicle |
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